the method works for an approached person moving

launch/fake_laser_gen.launch

@@ -5,7 +5,7 @@
       type="fake_laser_gen"
       name="$(optenv ROBOT tibi)_fake_laser_gen"
       output="screen">
-    <param name="laser_mode" value="9" />
+    <param name="laser_mode" value="0" />
     <remap from="~scan" to="/$(optenv ROBOT tibi)/sensors/front_laser_scan"/>
   </node>
 

launch/fake_localization.launch

@@ -11,7 +11,7 @@
       <param name="global_frame_id"   value="/map" />
       <param name="base_frame_id"   value="/$(optenv ROBOT tibi)/base_footprint" />
       <param name="delta_x"   value="0.0" />
-      <param name="delta_y"   value="0.5" />
+      <param name="delta_y"   value="0.0" />
       <param name="delta_yaw" value="0.0" />
       <remap from="/odom" to="/$(optenv ROBOT tibi)/segway/odom"/>
       <remap from="base_pose_ground_truth" to="/$(optenv ROBOT tibi)/segway/odom"/>